54,718 research outputs found
Single board system for fuzzy inference
The very large scale integration (VLSI) implementation of a fuzzy logic inference mechanism allows the use of rule-based control and decision making in demanding real-time applications. Researchers designed a full custom VLSI inference engine. The chip was fabricated using CMOS technology. The chip consists of 688,000 transistors of which 476,000 are used for RAM memory. The fuzzy logic inference engine board system incorporates the custom designed integrated circuit into a standard VMEbus environment. The Fuzzy Logic system uses Transistor-Transistor Logic (TTL) parts to provide the interface between the Fuzzy chip and a standard, double height VMEbus backplane, allowing the chip to perform application process control through the VMEbus host. High level C language functions hide details of the hardware system interface from the applications level programmer. The first version of the board was installed on a robot at Oak Ridge National Laboratory in January of 1990
Physics-based Motion Planning with Temporal Logic Specifications
One of the main foci of robotics is nowadays centered in providing a great
degree of autonomy to robots. A fundamental step in this direction is to give
them the ability to plan in discrete and continuous spaces to find the required
motions to complete a complex task. In this line, some recent approaches
describe tasks with Linear Temporal Logic (LTL) and reason on discrete actions
to guide sampling-based motion planning, with the aim of finding
dynamically-feasible motions that satisfy the temporal-logic task
specifications. The present paper proposes an LTL planning approach enhanced
with the use of ontologies to describe and reason about the task, on the one
hand, and that includes physics-based motion planning to allow the purposeful
manipulation of objects, on the other hand. The proposal has been implemented
and is illustrated with didactic examples with a mobile robot in simple
scenarios where some of the goals are occupied with objects that must be
removed in order to fulfill the task.Comment: The 20th World Congress of the International Federation of Automatic
Control, 9-14 July 201
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